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   &#160;<span id="projectnumber">0.1</span>
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   <div id="projectbrief">Google Summer of Code 2011: Structure from motion</div>
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<div class="title">D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/StructureEstimator.h</div>  </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#ifndef _GSOC_SFM_STRUCTURE_ESTIMATOR_H</span>
<a name="l00002"></a>00002 <span class="preprocessor"></span><span class="preprocessor">#define _GSOC_SFM_STRUCTURE_ESTIMATOR_H 1</span>
<a name="l00003"></a>00003 <span class="preprocessor"></span>
<a name="l00004"></a>00004 <span class="preprocessor">#include &lt;vector&gt;</span>
<a name="l00005"></a>00005 
<a name="l00006"></a>00006 <span class="preprocessor">#include &quot;macro.h&quot;</span> <span class="comment">//SFM_EXPORTS</span>
<a name="l00007"></a>00007 
<a name="l00008"></a>00008 <span class="keyword">namespace </span>OpencvSfM{
<a name="l00009"></a>00009   <span class="keyword">class </span>SFM_EXPORTS SequenceAnalyzer;
<a name="l00010"></a>00010   <span class="keyword">class </span>SFM_EXPORTS PointOfView;
<a name="l00011"></a>00011   <span class="keyword">class </span>SFM_EXPORTS TrackOfPoints;
<a name="l00016"></a><a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html">00016</a>   <span class="keyword">class </span>SFM_EXPORTS <a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html" title="This class tries to find the 3D structure using a sequence and cameras fully parameterized.">StructureEstimator</a>
<a name="l00017"></a>00017   {
<a name="l00018"></a>00018   <span class="keyword">protected</span>:
<a name="l00019"></a><a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#ac2f31a43a949390a4ef0341b25658458">00019</a>     <a class="code" href="class_opencv_sf_m_1_1_sequence_analyzer.html" title="This class tries to match points in the entire sequence. It follow ideas proposed by Noah Snavely: Mo...">SequenceAnalyzer</a> *<a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#ac2f31a43a949390a4ef0341b25658458" title="Object containing all 2D information of this sequence.">sequence_</a>;
<a name="l00020"></a><a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#abd0b6883acdf33481d92bac73c258a9c">00020</a>     std::vector&lt;PointOfView&gt;* <a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#abd0b6883acdf33481d92bac73c258a9c" title="List of cameras (intra and extern parameters...)">cameras_</a>;
<a name="l00021"></a><a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#a29338acd6413df6c54263a0f58c71dc4">00021</a>     <span class="keywordtype">int</span> <a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#a29338acd6413df6c54263a0f58c71dc4" title="Maximum reprojection error allowed.">max_repro_error_</a>;
<a name="l00022"></a>00022 
<a name="l00023"></a>00023   <span class="keyword">public</span>:
<a name="l00030"></a><a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#a86bcc4a1ff07b546ed1c624392afd023">00030</a>     <a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html" title="This class tries to find the 3D structure using a sequence and cameras fully parameterized.">StructureEstimator</a>( <a class="code" href="class_opencv_sf_m_1_1_sequence_analyzer.html" title="This class tries to match points in the entire sequence. It follow ideas proposed by Noah Snavely: Mo...">SequenceAnalyzer</a> *sequence,
<a name="l00031"></a>00031       std::vector&lt;PointOfView&gt;* cameras,<span class="keywordtype">int</span> max_repro_error=10 )
<a name="l00032"></a>00032       :sequence_( sequence ),cameras_( cameras ),
<a name="l00033"></a>00033       max_repro_error_( max_repro_error ){};
<a name="l00034"></a>00034 
<a name="l00038"></a><a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#a227c1d919bd722945efeb395a2311498">00038</a>     <a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#a227c1d919bd722945efeb395a2311498">~StructureEstimator</a>(){sequence_=NULL;cameras_=NULL;};
<a name="l00039"></a>00039     
<a name="l00045"></a>00045     std::vector&lt;char&gt; computeStructure( <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_error = 10 );
<a name="l00052"></a>00052     std::vector&lt; TrackOfPoints &gt; computeStructure(
<a name="l00053"></a>00053       <span class="keyword">const</span> std::vector&lt;int&gt;&amp; list_of_images,
<a name="l00054"></a>00054        <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_error = 10 );
<a name="l00061"></a>00061     <span class="keywordtype">void</span> removeOutliersTracks( <span class="keywordtype">double</span> max_error = 10,
<a name="l00062"></a>00062       std::vector&lt; TrackOfPoints &gt;* list_of_tracks = NULL );
<a name="l00063"></a>00063   };
<a name="l00064"></a>00064 
<a name="l00065"></a>00065 }
<a name="l00066"></a>00066 
<a name="l00067"></a>00067 
<a name="l00068"></a>00068 
<a name="l00069"></a>00069 <span class="preprocessor">#endif</span>
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